A fast and dynamic distribution method for cable reels suitable for intelligent automated warehousing

Abstract

The present invention relates to the field of intelligent systems, particularly the intelligent power storage supply chain, and more specifically, to a method for rapidly and dynamically allocating cable reels suitable for intelligent automated warehousing. The disclosed method for rapidly and dynamically allocating cable reels suitable for intelligent warehousing utilizes visual recognition and scanning image data as a basis for a dynamic cable reel allocation method. Furthermore, the method integrates automatic control technology to achieve a process that includes "vehicle docking—material identification—formulation and determination of cargo space allocation scheme combinations—loading task generation—and one-click activation of automated operations," thereby enabling fully unmanned operations and avoiding safety concerns associated with manual operation.

Description

Technical Field

[0001] The present invention relates to the field of intelligence, in particular to the field of intelligence of power storage supply chain, and more specifically to a method for rapid dynamic distribution of cable reels suitable for intelligent automated warehousing. Background Art

[0002] Smart warehousing is a logistics activity that uses advanced scientific and technological means and equipment such as software technology, Internet technology, automatic sorting technology, optical technology, radio frequency identification (RFID), and voice control technology to effectively plan, execute, and control the entry and exit, storage, sorting, packaging, distribution, and information of goods.

[0003] In order to realize the informatization, automation, intelligence, speed and rationalization of logistics, it is necessary to use the method of system integration to make various materials flow in the most reasonable, economical and efficient way.

[0004] Compared to other warehousing sectors, power supply storage possesses unique characteristics. Cable reels, for example, are characterized by a low degree of standardization, a wide variety of specifications and models, and diverse loading methods. Because of this, manual loading and unloading of cable reels is still largely a process. This approach not only presents significant safety risks, but also results in limited loading space utilization due to the limitations of manual labor. Furthermore, this manual involvement further restricts the modernization and automation of logistics warehousing, making it impossible to meet the requirements of efficient, safe, and cost-effective modern warehousing services.

[0005] Many factors hinder the automation of cable reel handling, but one of the core issues is the inability to implement a fast, dynamic allocation plan. Because allocation relies on the experience and observation of on-site staff, the involvement of experienced personnel is essential, making automated handling impossible.

[0006] Therefore, it is essential to develop a dynamic, automated distribution method for cable reels to be loaded and unloaded in warehouse environments. This automated distribution method can be used in conjunction with automated handling vehicles like AGVs to achieve intelligent and automated operations in the warehouse loading and unloading process. This provides the foundation and necessary technical support for further realizing intelligent and automated warehousing in the power supply storage industry. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to develop a fast dynamic distribution method for cable reels suitable for intelligent warehousing, so that the cable reels can be placed on the transport flatbed truck reasonably, quickly and efficiently, thereby achieving efficient loading of cable reels and reducing labor costs and operational risks.

[0008] In order to solve the above technical problems, the present invention discloses a method for rapid dynamic allocation of cable reels suitable for intelligent warehousing, comprising the following steps:

[0009] The first step is to obtain a scanned image of the vehicle plate to be loaded, and calculate the length a and width b of the plate based on the scanned image;

[0010] The second step is to retrieve the outer diameter R and width m of the placeholder of the cable reel to be loaded from the storage system;

[0011] The third step is to scale the length a, width b, outer diameter R, and width m of the car plate in proportion;

[0012] The fourth step is to establish a visual coordinate system, place the vehicle plate into the coordinate system, and generate the coordinates of the four vertices of the vehicle plate, namely A(x1, y1), B(x1, y2), C(x2, y1), and D(x2, y2), where the distance between x1 and x2 is a, and the distance between y1 and y2 is b;

[0013] The fifth step is to simulate the placement of the placeholder on the vehicle board in the coordinate system without exceeding the width or length. The specific method is as follows:

[0014] (1) X-axis placement simulation: With the X-axis as the placement direction, place the cable trays evenly from the front to the rear of the vehicle, keeping the distance between the cable trays and between the cable trays and the front and rear of the vehicle no less than the minimum safety distance. Calculate the maximum number of cable trays that can be placed horizontally and vertically, and record them as n1 and n2 respectively.

[0015] (2) Y-axis placement simulation: With the Y-axis as the placement direction, place the cable trays evenly in sequence, keeping the distance between the cable trays and the distance between the cable trays and the edge of the vehicle panel no less than the minimum safety distance. Calculate the maximum number of cable trays that can be placed when placed horizontally and vertically, and record them as k1 and k2 respectively;

[0016] Step 6: Follow M 横 =n1×k1;M 竖 =n2×k2, calculate M respectively 横 and M 竖 ;

[0017] Step 7: Compare M 横 and M 竖 , if M 横 ≥M 竖 , then place it horizontally. If M 横 <M 竖 , then place it vertically;

[0018] In the eighth step, the placeholders are placed in the coordinate system according to the preferred allocation scheme, and the coordinate values ​​of the center points of each placeholder are calculated. In combination with the scaling relationship in the third step, the actual positions of each placeholder are output.

[0019] As a preferred technical solution, the method for obtaining the scanning image of the vehicle plate to be loaded in the first step is: use a line scan camera to scan vertically above the vehicle to be loaded, arrange multiple linear data in chronological order, and form a complete image of the vehicle plate to be loaded.

[0020] In a preferred technical solution, A(x1, y1) is taken as the origin.

[0021] More preferably, the method further includes an eighth step of converting the actual position of the placeholder disk into a site coordinate value, and transmitting the site coordinate value to the automatic loading and unloading management system.

[0022] The rapid dynamic allocation method for cable reels suitable for intelligent warehousing disclosed in the present invention is adopted to form a dynamic allocation method for cable reels based on visual recognition scanning image data, and further integrates automatic control technology to achieve "vehicle docking - material identification - formation and determination of cargo space allocation plan combination - loading task generation - one-click start of automated operation", thereby realizing unmanned operation throughout the process and avoiding safety issues such as manual operation.

[0023] At the same time, the technical solution disclosed in the present invention can be used to quickly and efficiently obtain a cable drum loading and distribution method, fully improve the vehicle space utilization rate, reduce cable transportation costs, realize cable loading automation, improve the safety factor of warehousing operations, and reduce warehousing labor costs. DETAILED DESCRIPTION

[0024] In order to better understand the present invention, the present invention is further described below with reference to specific embodiments.

[0025] In this embodiment, we disclose a specific method for fast dynamic allocation of cable reels suitable for intelligent warehousing:

[0026] In the first step, a line scan camera is used to scan vertically above the vehicle to be loaded. Multiple linear data are arranged in chronological order to form a complete plate image of the vehicle to be loaded. The length a and width b of the plate are calculated based on the plate scan image.

[0027] In order to ensure the accuracy of the vehicle plate image data, the line scan camera is fixed on the walking mechanism vertically above the vehicle plate, and the walking speed of the line scan camera is set to v according to the scanning frequency f of the line scan camera to obtain a series of image data.

[0028] for example:

[0029] According to the above data, we can obtain that the length a of the vehicle plate in this embodiment is 13.5 m and the width b is 2.5 m.

[0030] The second step is to retrieve the outer diameter R and width m of the placeholder of the cable reel to be loaded from the storage system;

[0031] The specifications of different cable reel placeholders are different. For example, in this embodiment, the cable reel placeholder we are going to load is AC10KV_150*1_3000m, with an outer diameter of 2m and a width of 1.25m.

[0032] The third step is to scale the length a, width b, outer diameter R, and width m of the car plate in proportion;

[0033] The fourth step is to establish a visual coordinate system, place the vehicle plate into the coordinate system, and generate the coordinates of the four vertices of the vehicle plate, namely A(x1, y1), B(x1, y2), C(x2, y1), and D(x2, y2), where the distance between x1 and x2 is a, and the distance between y1 and y2 is b;

[0034] In this embodiment, A(x1, y1) is used as the origin, the long axis of the car plate is used as the X axis, and the short axis is used as the Y axis to establish a visual coordinate system. The coordinates of the four vertices of the car plate after placement are:

[0035] A(0,0), B(0,2.5), C(13.5,0), D(13.5,2.5).

[0036] The fifth step is to simulate the placement of the placeholder on the vehicle board in the coordinate system without exceeding the width or length. The specific method is as follows:

[0037] (1) X-axis placement simulation: With the X-axis as the placement direction, place the cable trays evenly from the front to the rear of the vehicle, keeping the distance between the cable trays and between the cable trays and the front and rear of the vehicle no less than the minimum safety distance. Calculate the maximum number of cable trays that can be placed horizontally and vertically, which are 9 and 6 respectively.

[0038] (2) Y-axis placement simulation: With the Y-axis as the placement direction, place the cable trays evenly in sequence, keeping the distance between the cable trays and the distance between the cable trays and the edge of the vehicle panel no less than the minimum safety distance. Calculate the maximum number of cable trays that can be placed when placed horizontally and vertically, and record them as 1 and 1 respectively;

[0039] In this embodiment, we place the cables horizontally and vertically in the above manner. According to the standard requirements, in this embodiment, the minimum spacing between the cable reels is 20 cm, the minimum spacing between the cable reels and the front of the vehicle is 20 cm, and the minimum spacing between the cable reels and the rear of the vehicle is 20 cm.

[0040] Through the X-axis placement simulation, it is seen that in this embodiment, n1 and n2 are 9 and 6 respectively when placed horizontally and vertically; at the same time, through the Y-axis placement simulation, it is seen that in this embodiment, k1 and k2 are both 1 when placed horizontally and vertically.

[0041] Step 6: Follow M 横 =n1×k1;M 竖 =n2×k2, calculate M respectively 横 and M 竖 ; Calculate the data in this embodiment, M 横 =9,M 竖 =6.

[0042] Step 7: Compare M 横 and M 竖 , if M 横 ≥M 竖 , then place it horizontally. If M 横 <M 竖 , then place it vertically;

[0043] In this embodiment, we compare and find that M 横 >M 竖 , so place it horizontally.

[0044] In the eighth step, the placeholders are placed in the coordinate system according to the preferred allocation scheme, and the coordinate values ​​of the center points of each placeholder are calculated. In combination with the scaling relationship in the third step, the actual positions of each placeholder are output.

[0045] Finally, the present embodiment preferably also includes an eighth step of converting the actual position of the placeholder disk into a site coordinate value, and transmitting the site coordinate value to the automatic loading and unloading management system to guide an automated loading and unloading vehicle such as an AGV to load the cable reel.

[0046] The above is a specific embodiment of the present invention. It should be noted that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A fast dynamic distribution method for cable reels suitable for intelligent warehousing, characterized in that: The following steps are involved: The first step is to obtain a scanned image of the vehicle plate to be loaded, and calculate the length a and width b of the plate based on the scanned image; The second step is to retrieve the outer diameter R and width m of the placeholder of the cable reel to be loaded from the storage system; The third step is to scale the length a, width b, outer diameter R, and width m of the car plate in proportion; The fourth step is to establish a visual coordinate system, place the vehicle plate into the coordinate system, and generate the coordinates of the four vertices of the vehicle plate, namely A (x1, y1), B (x1, y2), C (x2, y1), and D (x2, y2), where the distance between x1 and x2 is a, and the distance between y1 and y2 is b; The fifth step is to simulate the placement of the placeholder on the vehicle board in the coordinate system without exceeding the width or length. The specific method is as follows: (1) X-axis placement simulation: With the X-axis as the placement direction, place the cable trays evenly from the front to the rear of the vehicle, keeping the distance between the cable trays and between the cable trays and the front and rear of the vehicle no less than the minimum safety distance. Calculate the maximum number of cable trays that can be placed horizontally and vertically, and record them as n1 and n2 respectively; (2) Y-axis placement simulation: With the Y-axis as the placement direction, place the cable trays evenly in sequence, keeping the distance between the cable trays and the distance between the cable trays and the edge of the vehicle panel no less than the minimum safety distance. Calculate the maximum number of cable trays that can be placed when placed horizontally and vertically, and record them as k1 and k2 respectively; Step 6: Follow M 横 =n1×k1;M 竖 =n2×k2, calculate M respectively 横 and M 竖 ; Step 7: Compare M 横 and M 竖 , if M 横 ≥M 竖 , then place it horizontally. If M 横 <M 竖 , then place it vertically; In the eighth step, the allocation plan determined in the seventh step places the placeholders in the coordinate system, calculates the coordinate values ​​of the center points of each placeholder, and combines the scaling relationship in the third step to output the actual position of each placeholder.

2. The cable reel rapid dynamic allocation method suitable for intelligent warehousing according to claim 1 is characterized by: In the first step, the method for obtaining the scanning image of the vehicle plate to be loaded is: using a line scan camera to scan vertically above the vehicle to be loaded, and arranging multiple linear data in chronological order to form a complete vehicle plate image to be loaded.

3. The cable reel rapid dynamic allocation method for intelligent warehousing according to claim 1 is characterized in that: Take A(x1,y1) as the origin.

4. The cable reel rapid dynamic allocation method for intelligent warehousing according to claim 1 is characterized in that: The method further includes a ninth step of converting the actual position of the placeholder disk into a site coordinate value, and transmitting the site coordinate value to the automatic loading and unloading management system.